stitch path

[LebronRemonJames]

Do you consider using stitch path in optimizer process ? If reference line has changed sharply , such as lane change , it would be uncomfortable

[LiJiangnanBit]

Hi, I'm not sure what "stich path" is. If you mean the strategy to keep the path stable between planning cycles, like what Apollo does, maybe it should be considered in the upper-level planner?

[LebronRemonJames]

Trajectory Planning for B ERTHA -a Local, Continuous Method.pdf

i am not sure whether Apollo's method (just select planning start point without solid path which originate from history path) work well.

[LiJiangnanBit]

That's a good point. 👍

[james1kobby]

@LebronRemonJames ,Is this excellent open source code?